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AP_VisualOdom: get_orientation made public

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also remove unnecessary friends
This commit is contained in:
Randy Mackay 2020-04-02 21:04:44 +09:00
parent c36dfc448d
commit b519d285a6
1 changed files with 3 additions and 5 deletions
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8
libraries/AP_VisualOdom/AP_VisualOdom.h
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@ -26,8 +26,6 @@ class AP_VisualOdom_Backend;
class AP_VisualOdom
{
public:
friend class AP_VisualOdom_Backend;
friend class AP_VisualOdom_MAV;
AP_VisualOdom();
@ -51,6 +49,9 @@ public:
// return true if sensor is basically healthy (we are receiving data)
bool healthy() const;
// get user defined orientation
enum Rotation get_orientation() const { return (enum Rotation)_orientation.get(); }
// return a 3D vector defining the position offset of the camera in meters relative to the body frame origin
const Vector3f &get_pos_offset(void) const { return _pos_offset; }
@ -74,9 +75,6 @@ private:
static AP_VisualOdom *_singleton;
// get user defined orientation
enum Rotation get_orientation() const { return (enum Rotation)_orientation.get(); }
// parameters
AP_Int8 _type;
AP_Vector3f _pos_offset; // position offset of the camera in the body frame